#include <World.hpp>

Inheritance diagram for dart::simulation::World:

Public Types
using	NameChangedSignal = common::Signal< void(const std::string &_oldName, const std::string &_newName)>

Public Member Functions
	World (const std::string &_name="world")
	Constructor. More...

virtual	~World ()
	Destructor. More...

std::shared_ptr< World >	clone () const
	Create a clone of this World. More...

const std::string &	setName (const std::string &_newName)
	Set the name of this World. More...

const std::string &	getName () const
	Get the name of this World. More...

void	setGravity (const Eigen::Vector3d &_gravity)
	Set gravity. More...

const Eigen::Vector3d &	getGravity () const
	Get gravity. More...

void	setTimeStep (double _timeStep)
	Set time step. More...

double	getTimeStep () const
	Get time step. More...

dynamics::SkeletonPtr	getSkeleton (std::size_t _index) const
	Get the indexed skeleton. More...

dynamics::SkeletonPtr	getSkeleton (const std::string &_name) const
	Find a Skeleton by name. More...

std::size_t	getNumSkeletons () const
	Get the number of skeletons. More...

std::string	addSkeleton (const dynamics::SkeletonPtr &_skeleton)
	Add a skeleton to this world. More...

void	removeSkeleton (const dynamics::SkeletonPtr &_skeleton)
	Remove a skeleton from this world. More...

std::set< dynamics::SkeletonPtr >	removeAllSkeletons ()
	Remove all the skeletons in this world, and return a set of shared pointers to them, in case you want to recycle them. More...

bool	hasSkeleton (const dynamics::ConstSkeletonPtr &skeleton) const
	Returns whether this World contains a Skeleton. More...

bool	hasSkeleton (const std::string &skeletonName) const
	Returns whether this World contains a Skeleton named `skeletonName`. More...

int	getIndex (int _index) const
	Get the dof index for the indexed skeleton. More...

dynamics::SimpleFramePtr	getSimpleFrame (std::size_t _index) const
	Get the indexed Entity. More...

dynamics::SimpleFramePtr	getSimpleFrame (const std::string &_name) const
	Find an Entity by name. More...

std::size_t	getNumSimpleFrames () const
	Get the number of Entities. More...

std::string	addSimpleFrame (const dynamics::SimpleFramePtr &_frame)
	Add an Entity to this world. More...

void	removeSimpleFrame (const dynamics::SimpleFramePtr &_frame)
	Remove a SimpleFrame from this world. More...

std::set< dynamics::SimpleFramePtr >	removeAllSimpleFrames ()
	Remove all SimpleFrames in this world, and return a set of shared pointers to them, in case you want to recycle them. More...

bool	checkCollision (bool checkAllCollisions)
	Deprecated. Please use checkCollision(~) instead. More...

bool	checkCollision (const collision::CollisionOption &option=collision::CollisionOption(false, 1u, nullptr), collision::CollisionResult *result=nullptr)
	Perform collision checking with 'option' over all the feasible collision pairs in this World, and the result will be stored 'result'. More...

const collision::CollisionResult &	getLastCollisionResult () const
	Return the collision checking result of the last simulation step. More...

void	reset ()
	Reset the time, frame counter and recorded histories. More...

void	step (bool _resetCommand=true)
	Calculate the dynamics and integrate the world for one step. More...

void	setTime (double _time)
	Set current time. More...

double	getTime () const
	Get current time. More...

int	getSimFrames () const
	Get the number of simulated frames. More...

void	setConstraintSolver (constraint::UniqueConstraintSolverPtr solver)
	Sets the constraint solver. More...

constraint::ConstraintSolver *	getConstraintSolver ()
	Get the constraint solver. More...

const constraint::ConstraintSolver *	getConstraintSolver () const
	Get the constraint solver. More...

void	bake ()
	Bake simulated current state and store it into mRecording. More...

Recording *	getRecording ()
	Get recording. More...

Static Public Member Functions
template<typename... Args>
static WorldPtr	create (Args &&... args)
	Creates World as shared_ptr. More...

static std::shared_ptr< World >	create (const std::string &name="world")
	Creates a World. More...

Public Attributes
common::SlotRegister< NameChangedSignal >	onNameChanged

Protected Member Functions
void	handleSkeletonNameChange (const dynamics::ConstMetaSkeletonPtr &_skeleton)
	Register when a Skeleton's name is changed. More...

void	handleSimpleFrameNameChange (const dynamics::Entity *_entity)
	Register when a SimpleFrame's name is changed. More...

void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers. More...

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers. More...

Protected Attributes
std::string	mName
	Name of this World. More...

std::vector< dynamics::SkeletonPtr >	mSkeletons
	Skeletons in this world. More...

std::map< dynamics::ConstMetaSkeletonPtr, dynamics::SkeletonPtr >	mMapForSkeletons

std::vector< common::Connection >	mNameConnectionsForSkeletons
	Connections for noticing changes in Skeleton names TODO(MXG): Consider putting this functionality into NameManager. More...

dart::common::NameManager< dynamics::SkeletonPtr >	mNameMgrForSkeletons
	NameManager for keeping track of Skeletons. More...

std::vector< dynamics::SimpleFramePtr >	mSimpleFrames
	Entities in this world. More...

std::vector< common::Connection >	mNameConnectionsForSimpleFrames
	Connections for noticing changes in Frame names TODO(MXG): Consider putting this functionality into NameManager. More...

std::map< const dynamics::SimpleFrame *, dynamics::SimpleFramePtr >	mSimpleFrameToShared
	Map from raw SimpleFrame pointers to their shared_ptrs. More...

dart::common::NameManager< dynamics::SimpleFramePtr >	mNameMgrForSimpleFrames
	NameManager for keeping track of Entities. More...

std::vector< int >	mIndices
	The first indeices of each skeleton's dof in mDofs. More...

Eigen::Vector3d	mGravity
	Gravity. More...

double	mTimeStep
	Simulation time step. More...

double	mTime
	Current simulation time. More...

int	mFrame
	Current simulation frame number. More...

std::unique_ptr< constraint::ConstraintSolver >	mConstraintSolver
	Constraint solver. More...

Recording *	mRecording

NameChangedSignal	mNameChangedSignal

std::set< Observer * >	mObservers
	List of current Observers. More...

Detailed Description

class World

Member Typedef Documentation

◆ NameChangedSignal

using dart::simulation::World::NameChangedSignal = common::Signal<void( const std::string& _oldName, const std::string& _newName)>

Constructor & Destructor Documentation

◆ World()

dart::simulation::World::World ( const std::string & _name = "world" )

Constructor.

◆ ~World()

dart::simulation::World::~World ( )

virtual

Destructor.

Member Function Documentation

◆ addObserver()

void dart::common::Subject::addObserver ( Observer * _observer ) const

protectedinherited

Add an Observer to the list of Observers.

◆ addSimpleFrame()

std::string dart::simulation::World::addSimpleFrame ( const dynamics::SimpleFramePtr & _frame )

Add an Entity to this world.

◆ addSkeleton()

std::string dart::simulation::World::addSkeleton ( const dynamics::SkeletonPtr & _skeleton )

Add a skeleton to this world.

◆ bake()

void dart::simulation::World::bake ( )

Bake simulated current state and store it into mRecording.

◆ checkCollision() [1/2]

bool dart::simulation::World::checkCollision ( bool checkAllCollisions )

Deprecated. Please use checkCollision(~) instead.

◆ checkCollision() [2/2]

bool dart::simulation::World::checkCollision	(	const collision::CollisionOption &	option = `collision::CollisionOption(false, 1u, nullptr)`,
		collision::CollisionResult *	result = `nullptr`
	)

Perform collision checking with 'option' over all the feasible collision pairs in this World, and the result will be stored 'result'.

If no argument is passed in then it will return just whether there is collision or not without the contact information such as contact point, normal, and penetration depth.

◆ clone()

WorldPtr dart::simulation::World::clone ( ) const

Create a clone of this World.

All Skeletons and SimpleFrames that are held by this World will be copied over.

◆ create() [1/2]

template<typename... Args>

WorldPtr dart::simulation::World::create ( Args &&... args )

static

Creates World as shared_ptr.

◆ create() [2/2]

std::shared_ptr< World > dart::simulation::World::create ( const std::string & name = "world" )

static

Creates a World.

◆ getConstraintSolver() [1/2]

constraint::ConstraintSolver * dart::simulation::World::getConstraintSolver ( )

Get the constraint solver.

◆ getConstraintSolver() [2/2]

const constraint::ConstraintSolver * dart::simulation::World::getConstraintSolver ( ) const

Get the constraint solver.

◆ getGravity()

const Eigen::Vector3d & dart::simulation::World::getGravity ( ) const

Get gravity.

◆ getIndex()

int dart::simulation::World::getIndex ( int _index ) const

Get the dof index for the indexed skeleton.

◆ getLastCollisionResult()

const collision::CollisionResult & dart::simulation::World::getLastCollisionResult ( ) const

Return the collision checking result of the last simulation step.

If this world hasn't stepped forward yet, then the result would be empty. Note that this function does not return the collision checking result of World::checkCollision().

◆ getName()

const std::string & dart::simulation::World::getName ( ) const

Get the name of this World.

◆ getNumSimpleFrames()

std::size_t dart::simulation::World::getNumSimpleFrames ( ) const

Get the number of Entities.

◆ getNumSkeletons()

std::size_t dart::simulation::World::getNumSkeletons ( ) const

Get the number of skeletons.

◆ getRecording()

Recording * dart::simulation::World::getRecording ( )

Get recording.

◆ getSimFrames()

int dart::simulation::World::getSimFrames ( ) const

Get the number of simulated frames.

TODO(MXG): I think the name of this function is much too similar to getSimpleFrame()

◆ getSimpleFrame() [1/2]

dynamics::SimpleFramePtr dart::simulation::World::getSimpleFrame ( const std::string & _name ) const

Find an Entity by name.

◆ getSimpleFrame() [2/2]

dynamics::SimpleFramePtr dart::simulation::World::getSimpleFrame ( std::size_t _index ) const

Get the indexed Entity.

◆ getSkeleton() [1/2]

dynamics::SkeletonPtr dart::simulation::World::getSkeleton ( const std::string & _name ) const

Find a Skeleton by name.

Parameters

[in] _name The name of the Skeleton you are looking for.

Returns: If the skeleton does not exist then return nullptr.

◆ getSkeleton() [2/2]

dynamics::SkeletonPtr dart::simulation::World::getSkeleton ( std::size_t _index ) const

Get the indexed skeleton.

◆ getTime()

double dart::simulation::World::getTime ( ) const

Get current time.

◆ getTimeStep()

double dart::simulation::World::getTimeStep ( ) const

Get time step.

◆ handleSimpleFrameNameChange()

void dart::simulation::World::handleSimpleFrameNameChange ( const dynamics::Entity * _entity )

protected

Register when a SimpleFrame's name is changed.

◆ handleSkeletonNameChange()

void dart::simulation::World::handleSkeletonNameChange ( const dynamics::ConstMetaSkeletonPtr & _skeleton )

protected

Register when a Skeleton's name is changed.

◆ hasSkeleton() [1/2]

bool dart::simulation::World::hasSkeleton ( const dynamics::ConstSkeletonPtr & skeleton ) const

Returns whether this World contains a Skeleton.

◆ hasSkeleton() [2/2]

bool dart::simulation::World::hasSkeleton ( const std::string & skeletonName ) const

Returns whether this World contains a Skeleton named skeletonName.

◆ removeAllSimpleFrames()

std::set< dynamics::SimpleFramePtr > dart::simulation::World::removeAllSimpleFrames ( )

Remove all SimpleFrames in this world, and return a set of shared pointers to them, in case you want to recycle them.

◆ removeAllSkeletons()

std::set< dynamics::SkeletonPtr > dart::simulation::World::removeAllSkeletons ( )

Remove all the skeletons in this world, and return a set of shared pointers to them, in case you want to recycle them.

◆ removeObserver()

void dart::common::Subject::removeObserver ( Observer * _observer ) const

protectedinherited

Remove an Observer from the list of Observers.

◆ removeSimpleFrame()

void dart::simulation::World::removeSimpleFrame ( const dynamics::SimpleFramePtr & _frame )

Remove a SimpleFrame from this world.

◆ removeSkeleton()

void dart::simulation::World::removeSkeleton ( const dynamics::SkeletonPtr & _skeleton )

Remove a skeleton from this world.

◆ reset()

void dart::simulation::World::reset ( )

Reset the time, frame counter and recorded histories.

◆ sendDestructionNotification()

void dart::common::Subject::sendDestructionNotification ( ) const

protectedinherited

Send a destruction notification to all Observers.

This will cause all Observers to behave as if this Subject has been permanently deleted, so it should only be called when that behavior is desired.

◆ setConstraintSolver()

void dart::simulation::World::setConstraintSolver ( constraint::UniqueConstraintSolverPtr solver )

Sets the constraint solver.

Note that the internal properties of solver will be overwritten by this World.

◆ setGravity()

void dart::simulation::World::setGravity ( const Eigen::Vector3d & _gravity )

Set gravity.

◆ setName()

const std::string & dart::simulation::World::setName ( const std::string & _newName )

Set the name of this World.

◆ setTime()

void dart::simulation::World::setTime ( double _time )

Set current time.

◆ setTimeStep()

void dart::simulation::World::setTimeStep ( double _timeStep )

Set time step.

◆ step()

void dart::simulation::World::step ( bool _resetCommand = true )

Calculate the dynamics and integrate the world for one step.

Parameters

[in] _resetCommand True if you want to reset to zero the joint command after simulation step.

Member Data Documentation

◆ mConstraintSolver

std::unique_ptr<constraint::ConstraintSolver> dart::simulation::World::mConstraintSolver

protected

Constraint solver.

◆ mFrame

int dart::simulation::World::mFrame

protected

Current simulation frame number.

◆ mGravity

Eigen::Vector3d dart::simulation::World::mGravity

protected

Gravity.

◆ mIndices

std::vector<int> dart::simulation::World::mIndices

protected

The first indeices of each skeleton's dof in mDofs.

For example, if this world has three skeletons and their dof are 6, 1 and 2 then the mIndices goes like this: [0 6 7].

◆ mMapForSkeletons

std::map<dynamics::ConstMetaSkeletonPtr, dynamics::SkeletonPtr> dart::simulation::World::mMapForSkeletons

protected

◆ mName

std::string dart::simulation::World::mName

protected

Name of this World.

◆ mNameChangedSignal

NameChangedSignal dart::simulation::World::mNameChangedSignal

protected

◆ mNameConnectionsForSimpleFrames

std::vector<common::Connection> dart::simulation::World::mNameConnectionsForSimpleFrames

protected

Connections for noticing changes in Frame names TODO(MXG): Consider putting this functionality into NameManager.

◆ mNameConnectionsForSkeletons

std::vector<common::Connection> dart::simulation::World::mNameConnectionsForSkeletons

protected

Connections for noticing changes in Skeleton names TODO(MXG): Consider putting this functionality into NameManager.

◆ mNameMgrForSimpleFrames

dart::common::NameManager<dynamics::SimpleFramePtr> dart::simulation::World::mNameMgrForSimpleFrames

protected

NameManager for keeping track of Entities.

◆ mNameMgrForSkeletons

dart::common::NameManager<dynamics::SkeletonPtr> dart::simulation::World::mNameMgrForSkeletons

protected

NameManager for keeping track of Skeletons.

◆ mObservers

std::set<Observer*> dart::common::Subject::mObservers

mutableprotectedinherited

List of current Observers.

◆ mRecording

Recording* dart::simulation::World::mRecording

protected

◆ mSimpleFrames

std::vector<dynamics::SimpleFramePtr> dart::simulation::World::mSimpleFrames

protected

Entities in this world.

◆ mSimpleFrameToShared

std::map<const dynamics::SimpleFrame*, dynamics::SimpleFramePtr> dart::simulation::World::mSimpleFrameToShared

protected

Map from raw SimpleFrame pointers to their shared_ptrs.

◆ mSkeletons

std::vector<dynamics::SkeletonPtr> dart::simulation::World::mSkeletons

protected

Skeletons in this world.

◆ mTime

double dart::simulation::World::mTime

protected

Current simulation time.

◆ mTimeStep

double dart::simulation::World::mTimeStep

protected

Simulation time step.

◆ onNameChanged

common::SlotRegister<NameChangedSignal> dart::simulation::World::onNameChanged

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ NameChangedSignal

Constructor & Destructor Documentation

◆ World()

◆ ~World()

Member Function Documentation

◆ addObserver()

◆ addSimpleFrame()

◆ addSkeleton()

◆ bake()

◆ checkCollision() [1/2]

◆ checkCollision() [2/2]

◆ clone()

◆ create() [1/2]

◆ create() [2/2]

◆ getConstraintSolver() [1/2]

◆ getConstraintSolver() [2/2]

◆ getGravity()

◆ getIndex()

◆ getLastCollisionResult()

◆ getName()

◆ getNumSimpleFrames()

◆ getNumSkeletons()

◆ getRecording()

◆ getSimFrames()

◆ getSimpleFrame() [1/2]

◆ getSimpleFrame() [2/2]

◆ getSkeleton() [1/2]

◆ getSkeleton() [2/2]

◆ getTime()

◆ getTimeStep()

◆ handleSimpleFrameNameChange()

◆ handleSkeletonNameChange()

◆ hasSkeleton() [1/2]

◆ hasSkeleton() [2/2]

◆ removeAllSimpleFrames()

◆ removeAllSkeletons()

◆ removeObserver()

◆ removeSimpleFrame()

◆ removeSkeleton()

◆ reset()

◆ sendDestructionNotification()

◆ setConstraintSolver()

◆ setGravity()

◆ setName()

◆ setTime()

◆ setTimeStep()

◆ step()

Member Data Documentation

◆ mConstraintSolver

◆ mFrame

◆ mGravity

◆ mIndices

◆ mMapForSkeletons

◆ mName

◆ mNameChangedSignal

◆ mNameConnectionsForSimpleFrames

◆ mNameConnectionsForSkeletons

◆ mNameMgrForSimpleFrames

◆ mNameMgrForSkeletons

◆ mObservers

◆ mRecording

◆ mSimpleFrames

◆ mSimpleFrameToShared

◆ mSkeletons

◆ mTime

◆ mTimeStep

◆ onNameChanged